zephyr/samples/drivers/ipm/ipm_mcux/prj.conf

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CONFIG_PRINTK=y
CONFIG_IPM=y
CONFIG_IPM_MCUX=y
CONFIG_SECOND_CORE_MCUX=y
CONFIG_SECOND_IMAGE_MCUX="${ZEPHYR_BINARY_DIR}/../ipm_mcux_remote-prefix/src/ipm_mcux_remote-build/zephyr/${KERNEL_BIN_NAME}"
CONFIG_TIMESLICE_SIZE=1
CONFIG_MAIN_STACK_SIZE=2048